2 * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
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3 * ALL RIGHTS RESERVED
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4 * Permission to use, copy, modify, and distribute this software for
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5 * any purpose and without fee is hereby granted, provided that the above
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6 * copyright notice appear in all copies and that both the copyright notice
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7 * and this permission notice appear in supporting documentation, and that
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8 * the name of Silicon Graphics, Inc. not be used in advertising
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9 * or publicity pertaining to distribution of the software without specific,
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10 * written prior permission.
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12 * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
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13 * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
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14 * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
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15 * FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON
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16 * GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
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17 * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
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18 * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
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19 * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
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20 * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN
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21 * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
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22 * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
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23 * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
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25 * US Government Users Restricted Rights
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26 * Use, duplication, or disclosure by the Government is subject to
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27 * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
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28 * (c)(1)(ii) of the Rights in Technical Data and Computer Software
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29 * clause at DFARS 252.227-7013 and/or in similar or successor
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30 * clauses in the FAR or the DOD or NASA FAR Supplement.
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31 * Unpublished-- rights reserved under the copyright laws of the
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32 * United States. Contractor/manufacturer is Silicon Graphics,
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33 * Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311.
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35 * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
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39 * A virtual trackball implementation
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40 * Written by Gavin Bell for Silicon Graphics, November 1988.
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44 * Pass the x and y coordinates of the last and current positions of
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45 * the mouse, scaled so they are from (-1.0 ... 1.0).
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47 * The resulting rotation is returned as a quaternion rotation in the
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51 trackball(float q[4], float p1x, float p1y, float p2x, float p2y);
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54 * Given two quaternions, add them together to get a third quaternion.
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55 * Adding quaternions to get a compound rotation is analagous to adding
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56 * translations to get a compound translation. When incrementally
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57 * adding rotations, the first argument here should be the new
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58 * rotation, the second and third the total rotation (which will be
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59 * over-written with the resulting new total rotation).
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62 add_quats(float *q1, float *q2, float *dest);
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65 * A useful function, builds a rotation matrix in Matrix based on
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69 build_rotmatrix(float m[4][4], float q[4]);
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72 * This function computes a quaternion based on an axis (defined by
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73 * the given vector) and an angle about which to rotate. The angle is
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74 * expressed in radians. The result is put into the third argument.
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77 axis_to_quat(float a[3], float phi, float q[4]);
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